Adaptive PID control for perfect tracking problem of MIMO systems

This paper is concerned with an adaptive PID control for the output model tracking ploblem of MIMO systems {A, B, C}. We propose the new adaptive PID control that has the constant matrices gain and the time-varying gain matrices. The proposed design method is derived from satisfying Lyapunov's stability theorem under some assumptions that the controlled system's zero-dynamics is asymptotically stable, some rank conditions concerning the controlled system and the reference model matrices and CB = 0 CAB > 0 or CB > 0. In our method, the asymptotical perfect output model tracking can be guaranteed even if there exist unknown system parameters and unknown step disturbances. Finally, the effectiveness of the proposed method is confirmed with the simulation result.